From the 2 of 14 linked papers with an AI index.
14 papers
The contraction of solutions with large perturbation in multiple space dimensions from the oscillatory dispersive planar shock
Geng Chen, Harish Ravichandar, Yannan Shen
The paper proves that planar oscillatory or monotone dispersive shock profiles of the dissipative Kadomtsev‑Petviashvili equation and the multi‑dimensional KdV‑Burgers equation con…
Distributionally Robust Control via Stein Variational Inference for Contact-Rich Manipulation
Hrishikesh Sathyanarayan, Victor Vantilborgh, Harish Ravichandar +2
The paper introduces a model‑based manipulation controller that uses Stein variational inference to model task‑sensitive uncertainty, improving robustness in contact‑rich robotic t…
OmniTacTune: Policy-Agnostic Real-World RL for Tactile Residual Adaptation of Visual Policies
Kelin Yu, Haode Zhang, Harish Ravichandar +2
Visual policies learned from human videos, teleoperation, and robot demonstrations offer scalable motion priors, but often fail in contact-rich manipulation, where success signific…
Video2Sim2Real: Full-Stack Autonomous Dexterous Skill Acquisition from a Single Human Video
Yunhai Han, Jianuo Qiu, Linhao Bai +14
Human manipulation videos are a convenient and intuitive source for robot learning. However, directly transferring human dexterity to robots remains challenging due to perception e…
Towards Automated Chicken Deboning via Learning-based Dynamically-Adaptive 6-DoF Multi-Material Cutting
Zhaodong Yang, Ai-Ping Hu, Harish Ravichandar
Automating chicken shoulder deboning requires precise 6-DoF cutting through a partially occluded, deformable, multi-material joint, since contact with the bones presents serious he…
Safe Navigation of Bipedal Robots via Koopman Operator-Based Model Predictive Control
Jeonghwan Kim, Yunhai Han, Harish Ravichandar +1
Nonlinearity in dynamics has long been a major challenge in robotics, often causing significant performance degradation in existing control algorithms. For example, the navigation…